Skip to content

Commit

Permalink
[DEV] GroundSdk 1.1.2 release
Browse files Browse the repository at this point in the history
  • Loading branch information
@mvinel
mvinel committed Nov 18, 2019
1 parent 9637aa9 commit 97afae0
Show file tree
Hide file tree
Showing 15 changed files with 369 additions and 82 deletions.
113 changes: 89 additions & 24 deletions ...t/drone/groundsdk/arsdkengine/pilotingitf/anafi/AnafiPointOfInterestPilotingItfTests.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -150,22 +150,25 @@ public void testPilotedPOI() {
ArsdkFeatureArdrone3.PilotingstatePilotedpoiStatus.RUNNING));
assertThat(mChangeCnt, is(3));
assertThat(mPilotingItf.getState(), is(Activable.State.ACTIVE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(10.0, 2.5, -5.0));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(10.0, 2.5, -5.0,
PointOfInterestPilotingItf.Mode.LOCKED_GIMBAL));

// start a new piloted POI
mMockArsdkCore.expect(new Expectation.Command(1,
ExpectedCmd.ardrone3PilotingStartPilotedPOI(1.0f, 2.0f, 3.0f), true));
mPilotingItf.start(1.0f, 2.0f, 3.0f);
assertThat(mChangeCnt, is(3));
assertThat(mPilotingItf.getState(), is(Activable.State.ACTIVE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(10.0, 2.5, -5.0));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(10.0, 2.5, -5.0,
PointOfInterestPilotingItf.Mode.LOCKED_GIMBAL));

// new POI started on the drone
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStatePilotedPOI(1.0f, 2.0f, 3.0f,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiStatus.RUNNING));
assertThat(mChangeCnt, is(4));
assertThat(mPilotingItf.getState(), is(Activable.State.ACTIVE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(1.0, 2.0, 3.0));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(1.0, 2.0, 3.0,
PointOfInterestPilotingItf.Mode.LOCKED_GIMBAL));

// interface becomes unavailable as the drone is landed
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStateFlyingStateChanged(LANDED));
Expand All @@ -175,39 +178,66 @@ public void testPilotedPOI() {
}

@Test
public void testReconnectionWhenFlying() {
public void testPilotedPOIFreeGimbal() {
connectDrone(mDrone, 1);

// should be inactive
assertThat(mChangeCnt, is(1));
assertThat(mPilotingItf.getState(), is(Activable.State.UNAVAILABLE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), nullValue());

// drone tells that piloted POI is available, piloting interface should stay unavailable as drone is not flying
mMockArsdkCore.commandReceived(1,
ArsdkEncoder.encodeArdrone3PilotingStatePilotedPOIV2(0.0f, 0.0f, 0.0f,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiv2Mode.LOCKED_GIMBAL,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiv2Status.AVAILABLE));
assertThat(mChangeCnt, is(1));
assertThat(mPilotingItf.getState(), is(Activable.State.UNAVAILABLE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), nullValue());

// drone is flying, piloting interface should now become idle
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStateFlyingStateChanged(FLYING));
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStatePilotedPOI(1.0f, 2.0f, 3.0f,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiStatus.RUNNING));
assertThat(mChangeCnt, is(2));
assertThat(mPilotingItf.getState(), is(Activable.State.IDLE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), nullValue());

// should be active
// start a piloted POI with free gimbal, interface does not become active yet
mMockArsdkCore.expect(new Expectation.Command(1,
ExpectedCmd.ardrone3PilotingStartPilotedPOIV2(10.0f, 2.5f, -5.0f,
ArsdkFeatureArdrone3.PilotingStartpilotedpoiv2Mode.FREE_GIMBAL), true));
mPilotingItf.start(10.0f, 2.5f, -5.0f, PointOfInterestPilotingItf.Mode.FREE_GIMBAL);
assertThat(mChangeCnt, is(2));
assertThat(mPilotingItf.getState(), is(Activable.State.ACTIVE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(1.0, 2.0, 3.0));
assertThat(mPilotingItf.getState(), is(Activable.State.IDLE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), nullValue());

// disconnect
disconnectDrone(mDrone, 1);
assertThat(mChangeCnt, is(3));
assertThat(mPilotingItf, is(nullValue()));
// interface not activated when piloted POI is pending on the drone
mMockArsdkCore.commandReceived(1,
ArsdkEncoder.encodeArdrone3PilotingStatePilotedPOIV2(10.0f, 2.5f, -5.0f,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiv2Mode.FREE_GIMBAL,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiv2Status.PENDING));
assertThat(mChangeCnt, is(2));
assertThat(mPilotingItf.getState(), is(Activable.State.IDLE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), nullValue());

// connect when drone is flying
connectDrone(mDrone, 1, () -> {
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStateFlyingStateChanged(FLYING));
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStatePilotedPOI(1.0f, 2.0f, 3.0f,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiStatus.RUNNING));
});
// interface activated when piloted POI is started on the drone
mMockArsdkCore.commandReceived(1,
ArsdkEncoder.encodeArdrone3PilotingStatePilotedPOIV2(10.0f, 2.5f, -5.0f,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiv2Mode.FREE_GIMBAL,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiv2Status.RUNNING));
assertThat(mChangeCnt, is(3));
assertThat(mPilotingItf.getState(), is(Activable.State.ACTIVE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(10.0, 2.5, -5.0,
PointOfInterestPilotingItf.Mode.FREE_GIMBAL));

// should be active
// interface becomes unavailable as the drone is landed
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStateFlyingStateChanged(LANDED));
assertThat(mChangeCnt, is(4));
assertThat(mPilotingItf.getState(), is(Activable.State.ACTIVE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(1.0, 2.0, 3.0));
assertThat(mPilotingItf.getState(), is(Activable.State.UNAVAILABLE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), nullValue());
}

@Test
public void testReconnectionWhenPOIRunning() {
public void testReconnectionWhenFlying() {
connectDrone(mDrone, 1);
assertThat(mChangeCnt, is(1));

Expand Down Expand Up @@ -238,6 +268,40 @@ public void testReconnectionWhenPOIRunning() {
assertThat(mPilotingItf.getCurrentPointOfInterest(), nullValue());
}

@Test
public void testReconnectionWhenPOIRunning() {
connectDrone(mDrone, 1);
assertThat(mChangeCnt, is(1));

mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStateFlyingStateChanged(FLYING));
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStatePilotedPOI(1.0f, 2.0f, 3.0f,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiStatus.RUNNING));

// should be active
assertThat(mChangeCnt, is(2));
assertThat(mPilotingItf.getState(), is(Activable.State.ACTIVE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(1.0, 2.0, 3.0,
PointOfInterestPilotingItf.Mode.LOCKED_GIMBAL));

// disconnect
disconnectDrone(mDrone, 1);
assertThat(mChangeCnt, is(3));
assertThat(mPilotingItf, is(nullValue()));

// connect when drone is flying
connectDrone(mDrone, 1, () -> {
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStateFlyingStateChanged(FLYING));
mMockArsdkCore.commandReceived(1, ArsdkEncoder.encodeArdrone3PilotingStatePilotedPOI(1.0f, 2.0f, 3.0f,
ArsdkFeatureArdrone3.PilotingstatePilotedpoiStatus.RUNNING));
});

// should be active
assertThat(mChangeCnt, is(4));
assertThat(mPilotingItf.getState(), is(Activable.State.ACTIVE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(1.0, 2.0, 3.0,
PointOfInterestPilotingItf.Mode.LOCKED_GIMBAL));
}

@Test
public void testPilotingCmd() {
MockPilotingCommandSeqNrGenerator seqNrGenerator = new MockPilotingCommandSeqNrGenerator();
Expand Down Expand Up @@ -268,7 +332,8 @@ public void testPilotingCmd() {
ArsdkFeatureArdrone3.PilotingstatePilotedpoiStatus.RUNNING));
assertThat(mChangeCnt, is(3));
assertThat(mPilotingItf.getState(), is(Activable.State.ACTIVE));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(10.0, 2.5, -5.0));
assertThat(mPilotingItf.getCurrentPointOfInterest(), matchesDirective(10.0, 2.5, -5.0,
PointOfInterestPilotingItf.Mode.LOCKED_GIMBAL));

// expect the piloting command loop to have started
seqNrGenerator.syncTime();
Expand Down
Loading

0 comments on commit 97afae0

Please sign in to comment.